Applied Mechanics and Materials Vols. 494-495

Abstract: The non-humanoid robots can express emotion by imitating the humans body language with different paths. The movement parameters effecting the Laban Effort Factors can be got by parameterizing the trajectory with using Laban Movement Analysis (LMA) Theory. Then, the emotion expressing model based on the trajectory of aerial robot is established by mapping the Effort Factors to the PAD emotion space. The simulation demonstrates the validity of the model.

Abstract: This study shows the results of double servomotors synchronization controller (SC) for Mirco-precision servo press. Two systems are used in this study, one is the master motor and another is the slave motor. Each system is designed separately. Also, it is necessary to use the synchronous controller to minimize the synchronization error and the motion command is transmitted simultaneously to two motors. The control system for the master motor includes a feedback controller (FB) and a zero phase error tracking controller (ZPET). For the slave motor, only velocity is controlled. The feedback controller is a cascade control structure, velocity and position controller. It can make the output follows the command. In order to reduce synchronized motion error, two servomotors are synchronized by the SC. The results of simulation reveal that the performance of the overall control system is improved compare to open loop, the synchronous position error between two sliders were less than 4μmm.

Abstract: The capacity of individual robots is divided into three types, which is described by using the state space and transfer process. Several comparative experiments are used to analysis the effects of different parameters on the individual ability. The capacity assessment for robot is obtained based on the difference analysis. Finally the method of task distribution is given based on the capacity list and the sub-tasks discussed before, which enhance the efficiency of the distribution by guaranteeing that the sub-task with the higher level is given to the robot with the better capacity.

Abstract: The Cournot-Puu economic model, with a bounded inverse demand function and different constant marginal production costs, exhibits complex bifurcating and chaotic behaviors. In this work, two approaches are developed to control bifurcation and chaos in the model. The first approach is based on the delayed feedback control method and can be viewed as a variant of Chens strategy. The second approach is an adaptive parameter turning algorithm in which the original adaptive method for controlling chaos is implemented. Numerical simulations are conducted to show how bifurcation and chaos can be controlled by the proposed approaches. The possible economic implications of the proposed control strategies are also discussed.

Abstract: This paper presents an attitude control method based on electric propulsion systems for the lunar lander that considers the important characteristics of nonlinearity and uncertainty of lunar soft landing maneuvers with large attitudes. The attitude control law is designed according to the terminal sliding mode variable structure control method. A soft lunar landing utilizing the proposed control method is simulated, and the results show that this attitude control system demonstrates superior global robustness, consumes less propellant, and can achieve higher precision than a conventional chemical propulsion-based control system. For a lunar lander with a pulse plasma thruster as the propulsion system, the attitude control precision of the system is 0.002 degrees when the attitude control force is 0.1 Newtons. When a conventional chemical, not electric, propulsion thruster is used, if the attitude control force decreases by one order of magnitude, then the control precision of the lunar lander decreases 10-fold. This study demonstrates that a terminal sliding mode variable structure control method combined with low level thrust electric propulsion can improve the precision of lunar soft landings.

Abstract: The generalized MFAC control algorithm is proposed for the disadvantage of the basic MFAC controller in the strong nonlinear system with large time delays.As the same time,the algorithm is applied in the double flume liquid temperature control system,the simulation of the control system is carried out.The simulation results presents the the control structure and control algorithm track ability, anti-interference,rubustness and load adaptability meet the demand of control design.The designed system have good control qualities.

Abstract: Recently, the UAV has become the research focus at home and abroad. this paper puts forward a unconventional type: double ducted tilting Subminiature UAV system (SUAV) , and carries out the research of the control system for this SUAV. Since SUAV flight attitude control process has strong time-varying characteristics, and there are random disturbances, the conventional control methods with unchanged parameters are often unworkable. An on-line adaptive ADRC control system is designed in this paper. An on-line adaptive ADRC system implements a simultaneous on-line tuning of ADRC rules and output scale of ADRC control system. The flight experiment showed that the proposed adaptive ADRC system provides quicker response, smaller overshoot, higher precision, robustness and adaptive ability. It satisfies the needs of autonomous flight.

Abstract: The image Jacobian Matrix must obtain during the course of uncalibrated visual servo for classic algorithms firstly. Then the inverse of image Jacobian Matrix or pseudo-inverse of image Jacobian Matrix can be taken. But when the inverse of image Jacobian Matrix is not exist or pseudo-inverse of image Jacobian Matrix is not easy to get, the uncalibrated visual servo for robot can not realize. In this paper, a research is carried on by simulation between the classic method for uncalibrared visual servo and the strategy by computing pseudo-inverse of image Jacobian Matrix. It is conclusion that the latter not only has advantage of the performance for tracking, but also reduces computational complexity for control.

Abstract: Based on AVR Single Chip Microcomputer and C# language design of a carving machine control system. It elaborated on design of the main control board hardware circuit of USB and upper computer control software workflow. For circuit board uneven problems put forward a kind of automatic engraving depth compensation plan.

Abstract: The emotion mechanism being introduced to Human-Simulated Intelligent Control algorithm, a fresh Intelligent Control algorithm is proposed, to solve the parameters design and tuning difficulty of the original algorithm. The verification of proposed control algorithm is completed on the car-inverted pendulum simulation platform. After the simulation results of the original and its improved algorithm is compared with, the new control algorithm can be found to obtain better control results with less design parameters. Thus, the suggested idea confirms its feasibility and effectiveness preliminarily.